package com.zy.common.utils;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.common.SpringUtils;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.model.NavigateNode;
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import com.zy.common.model.enums.NavigationMapType;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.ForkLiftSlave;
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import com.zy.core.model.LiftSlave;
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import com.zy.core.model.protocol.ForkLiftStaProtocol;
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import com.zy.core.model.protocol.LiftProtocol;
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import com.zy.core.model.protocol.LiftStaProtocol;
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import com.zy.core.model.protocol.ShuttleProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.ForkLiftThread;
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import com.zy.core.thread.LiftThread;
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import com.zy.core.thread.ShuttleThread;
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import com.zy.core.thread.impl.NyLiftThread;
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import com.zy.system.entity.Config;
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import com.zy.system.service.ConfigService;
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import java.util.ArrayList;
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import java.util.HashMap;
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import java.util.List;
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/**
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* 提升机工具类
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*/
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public class LiftUtils {
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//获取提升机站点
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public static LiftStaProtocol getLiftStaByStaNo(Integer staNo) {
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SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
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for (LiftSlave liftSlave : slaveProperties.getLift()) {
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LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
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if (liftThread == null) {
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return null;
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}
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for (LiftStaProtocol liftStaProtocol : liftThread.getLiftStaProtocols()) {
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if (liftStaProtocol.getStaNo().equals(staNo)) {
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return liftStaProtocol;
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}
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}
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}
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return null;
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}
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//获取提升机站点
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public static LiftStaProtocol getLiftStaByLev(Integer liftNo, Integer lev) {
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LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
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if (liftThread == null) {
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return null;
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}
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for (LiftStaProtocol liftStaProtocol : liftThread.getLiftStaProtocols()) {
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if (liftStaProtocol.getLev().equals(lev)) {
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return liftStaProtocol;
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}
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}
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return null;
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}
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//获取提升机输送站及其前一站节点
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public static List<NavigateNode> getLiftStaNodes(Integer staNo) {
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List<NavigateNode> targetNodes = new ArrayList<>();
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//获取目标站
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LiftStaProtocol targetLiftSta = LiftUtils.getLiftStaByStaNo(staNo);
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if (targetLiftSta == null) {
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return null;//找不到站点
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}
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NavigateNode targetNode = NavigatePositionConvert.locNoToNode(targetLiftSta.getLocNo());//目标节点
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String targetLastLocNo = Utils.getLocNo(Utils.getRow(targetLiftSta.getLocNo()) - 1, Utils.getBay(targetLiftSta.getLocNo()), Utils.getLev(targetLiftSta.getLocNo()));//目标节点前一站
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NavigateNode targetLastNode = NavigatePositionConvert.locNoToNode(targetLastLocNo);//目标节点前一站
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targetNodes.add(targetNode);
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targetNodes.add(targetLastNode);
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return targetNodes;
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}
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//通过输送线站号获取对应提升机号
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public static Integer getConveyorBindLiftNo(Integer staNo) {
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ConfigService configService = SpringUtils.getBean(ConfigService.class);
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if (configService == null) {
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return null;
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}
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Config conveyorLiftBindConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "conveyorLiftBind"));
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if(conveyorLiftBindConfig == null) {
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return null;
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}
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List<JSONObject> list = JSON.parseArray(conveyorLiftBindConfig.getValue(), JSONObject.class);
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if (list.isEmpty()) {
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return null;
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}
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for (JSONObject data : list) {
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if(data.getInteger("staNo").equals(staNo)) {
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return data.getInteger("liftNo");
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}
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}
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return null;
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}
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//请求上级系统，是否允许出库
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//查询是否有出库权限
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public static boolean queryOutMission(Integer staNo) {
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ConfigService configService = SpringUtils.getBean(ConfigService.class);
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if (configService == null) {
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return false;
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}
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Config queryOutMissionPathEnableConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "queryOutMissionPathEnable"));
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if (queryOutMissionPathEnableConfig != null) {
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String queryOutMissionPathEnable = queryOutMissionPathEnableConfig.getValue();
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if (!queryOutMissionPathEnable.equals("Y")) {
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return true;//关闭查询出库权限功能
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}
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}
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Config superSystemUriConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "superSystemUri"));
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if (superSystemUriConfig == null) {
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return false;
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}
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String superSystemUri = superSystemUriConfig.getValue();
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Config queryOutMissionPathConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "queryOutMissionPath"));
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if (queryOutMissionPathConfig == null) {
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return false;
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}
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String missionPath = queryOutMissionPathConfig.getValue();
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try {
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HashMap<String, Object> data = new HashMap<>();
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data.put("staNo", staNo);
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String response = new HttpHandler.Builder()
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.setUri(superSystemUri)
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.setPath(missionPath)
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.setJson(JSON.toJSONString(data))
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.build()
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.doPost();
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if (response.equals("ok")) {
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return true;//有出库权限
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}
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}catch (Exception e){
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e.printStackTrace();
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}
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return false;
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}
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//请求上级系统，是否允许入库
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//查询是否有入库权限
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public static boolean queryInMission(Integer sourceStaNo, Integer liftNo, String superTaskNo) {
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ConfigService configService = SpringUtils.getBean(ConfigService.class);
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if (configService == null) {
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return false;
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}
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Config queryInMissionPathEnableConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "queryInMissionPathEnable"));
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if (queryInMissionPathEnableConfig != null) {
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String queryInMissionPathEnable = queryInMissionPathEnableConfig.getValue();
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if (!queryInMissionPathEnable.equals("Y")) {
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return true;//关闭查询入库权限功能
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}
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}
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Config superSystemUriConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "superSystemUri"));
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if (superSystemUriConfig == null) {
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return false;
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}
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String superSystemUri = superSystemUriConfig.getValue();
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Config queryInMissionPathConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "queryInMissionPath"));
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if (queryInMissionPathConfig == null) {
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return false;
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}
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String missionPath = queryInMissionPathConfig.getValue();
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try {
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HashMap<String, Object> data = new HashMap<>();
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data.put("staNo", sourceStaNo);
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data.put("liftNo", liftNo);
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data.put("superTaskNo", superTaskNo);
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String response = new HttpHandler.Builder()
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.setUri(superSystemUri)
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.setPath(missionPath)
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.setJson(JSON.toJSONString(data))
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.build()
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.doPost();
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if (response.equals("ok")) {
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return true;//有入库权限
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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return false;
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}
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/**
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* 获取坐标最近且正常的提升机
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*/
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public static LiftThread getRecentLift(String locNo) {
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SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
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NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
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String currentLocNo = locNo;
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Integer recentAllDistance = 9999999;
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LiftThread recentLift = null;//最近站点
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for (LiftSlave slave : slaveProperties.getLift()) {
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LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
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if (liftThread == null) {
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continue;
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}
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LiftProtocol liftProtocol = liftThread.getStatus();
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if (liftProtocol == null) {
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continue;
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}
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if (!liftThread.isDeviceIdle()) {
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continue;
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}
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//搜索距离小车最近的提升机
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String liftLocNo = liftThread.getLiftLocNo(Utils.getLev(locNo));
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if (locNo.equals(liftLocNo)) {
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return liftThread;
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}
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//目标地点距离
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List<NavigateNode> currentShuttlePath = navigateUtils.calc(currentLocNo, liftLocNo, NavigationMapType.NORMAL.id, null, null);//使用正常通道地图
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if (currentShuttlePath == null) {
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continue;
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}
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Integer currentAllDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
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if (currentAllDistance < recentAllDistance) {
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//如果当前楼层的路径更小，则更新最近站点
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recentLift = liftThread;
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recentAllDistance = currentAllDistance;
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}
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}
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return recentLift;
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}
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}
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